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In addition to the electric forces between electric charges, moving electric charges exert magnetic forces on each other. A magnetic field is created by a moving charge or a group of moving charges known as the electric current. A magnetic force is experienced by a second current or moving charge in response to this magnetic field. Fundamentally, interactions between moving electrons in the atoms of two bodies produce magnetic forces between them.
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Magnetic dipoles in magnetic materials are aligned when placed under an external magnetic field. For paramagnets and ferromagnets, dipole alignment occurs in the direction of the magnetic field. However, the dipoles align opposite to the field in the case of diamagnets. This state of magnetic polarization due to the external field is called magnetization. Magnetization is defined as the dipole moment per unit volume. It plays a similar role to polarization in electrostatics.
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Eddy currents can produce significant drag on motion, called magnetic damping. For instance, when a metallic pendulum bob swings between the poles of a strong magnet, significant drag acts on the bob as it enters and leaves the field, quickly damping the motion.
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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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In electrostatics, the electric field can be written as the negative gradient of the potential. In magnetostatics, the zero divergence of the magnetic field ensures that the magnetic field can be expressed as the curl of a vector potential. This potential is known as the magnetic vector potential.
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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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Magnetic vitrimer-based soft robotics.

Gaoweiang Dong1, Qiguang He2, Shengqiang Cai1

  • 1Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA. shqcai@ucsd.edu.

Soft Matter
|September 27, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces magnetic vitrimers (MVs) that combine elastomer and fluid properties for large, fast, and self-healing actuation in soft robots. These materials offer enhanced control and functionality for complex tasks under magnetic fields.

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Area of Science:

  • Materials Science
  • Robotics
  • Polymer Chemistry

Background:

  • Magnetically responsive elastomers enable remote actuation for soft robots but suffer from small strain.
  • Magnetic particles in fluids allow large deformations but are slow and irreversible.
  • Existing materials limit the scope and efficiency of magnetically driven soft robotics.

Purpose of the Study:

  • To develop a novel material combining fast, reversible actuation with large deformations and self-healing capabilities.
  • To overcome the limitations of current magnetically responsive materials for soft robotics.
  • To demonstrate advanced functionalities of the new material in a soft robot.

Main Methods:

  • Incorporation of magnetic particles into a polymer network with dynamic covalent bonds to create magnetic vitrimers (MVs).
  • Characterization of MV properties at different temperatures, exhibiting elastomer-like behavior at room temperature and fluid-like behavior at elevated temperatures.
  • Integration of MVs into a soft robot design for demonstrating complex manipulations and locomotion.

Main Results:

  • The developed magnetic vitrimer exhibits tunable properties, acting as a responsive elastomer or a magnetically deformable fluid.
  • The material demonstrates large, reversible actuation and intrinsic self-healing properties without external contact.
  • A MV-based soft robot successfully navigated confined spaces, changed configuration, performed object manipulation, and followed planned paths.

Conclusions:

  • Magnetic vitrimers represent a significant advancement in soft robotics, offering unprecedented control and functionality.
  • The material's unique combination of properties enables sophisticated applications previously unachievable with existing technologies.
  • This work paves the way for next-generation self-healing, magnetically actuated soft robots with enhanced capabilities.